CN103009218B - Robot sanding apparatus and polishing process thereof - Google Patents

Robot sanding apparatus and polishing process thereof Download PDF

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Publication number
CN103009218B
CN103009218B CN201210549450.7A CN201210549450A CN103009218B CN 103009218 B CN103009218 B CN 103009218B CN 201210549450 A CN201210549450 A CN 201210549450A CN 103009218 B CN103009218 B CN 103009218B
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force
robot
displacement transducer
sanding apparatus
grinding machine
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CN103009218A (en
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张铁
刘文波
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The invention discloses a kind of robot sanding apparatus, comprise robot, sensor holder, force snesor, firm banking, electric grinding machine and displacement transducer, described electric grinding machine and displacement transducer are arranged on firm banking, firm banking is fixed on the panel of force snesor, force snesor is fixed on sensor holder, and sensor holder is fixed on robot end.The invention also discloses the polishing process of a kind of robot sanding apparatus.Structure of the present invention is simple, be easy to control, highly versatile, enhances productivity, reduces costs, improve crudy, can be used for complex-curved polishing.

Description

Robot sanding apparatus and polishing process thereof
Technical field
The present invention relates to robotic material's manufacture field, be specifically related to a kind of robot sanding apparatus and polishing process thereof.
Background technology
At present, polishing industry automatization level is lower, and quite a few polishing is completed by hand by skilled workman.Manual grinding labour intensity is large, time-consuming, efficiency is low, and the dust nuisance people's of polishing generation is healthy.Lathe grinding efficiency is high, but lathe polishing processing versatility is not strong, can expand very poor, and the lathe of specialty is expensive.Robot polishing automaticity is high, and controllability is strong, be easy to expand, highly versatile, and the price of robot is relatively cheap.Have several companies of robot to have developed milling robot system, but they are highly professional, only for several specific industrial goods, and system is very complicated.
Summary of the invention
The deficiency that the present invention exists to overcome above prior art, provides a kind of robot sanding apparatus, and structure is simple, be easy to control, highly versatile.
Another object of the present invention is to the polishing process that a kind of robot sanding apparatus is provided, enhance productivity, reduce costs, improve crudy, can be used for complex-curved polishing.
Object of the present invention is realized by following technical scheme: robot sanding apparatus, comprise robot, sensor holder, force snesor, firm banking, electric grinding machine and displacement transducer, described electric grinding machine and displacement transducer are arranged on firm banking, firm banking is fixed on the panel of force snesor, force snesor is fixed on sensor holder, and sensor holder is fixed on robot end.Sensor holder one end is fixed on robot end, and the other end is held and bed knife sensor, protects force snesor and enhances the stability of connection.
Described firm banking connects brace, and electric grinding machine is arranged on brace by 2 holding pieces, and displacement transducer is arranged on corner by 2 holding pieces, and corner is arranged on brace.
Described brace is flat sided straight dihedral.
Described corner is the bending of Liang Ge right angle, space.
The grinding head of described electric grinding machine is clamped on the body of electric grinding machine by dop.Tighten or unclamp dop, the grinding head of variety classes and model can be changed.
The axis direction of described electric grinding machine and displacement transducer is the Z-direction along robot end, and the probe at displacement transducer top than electric grinding machine grinding head described in Z-direction exceeds 1-5mm.
Described force snesor is six-dimension force sensor.
The polishing process of robot sanding apparatus comprises the following steps:
1. according to theoretical profile model planning machining locus and determine process rise cutter point;
2. make robot end to be less than the speed of 5cm/s close to workpiece;
3. when the probe of displacement transducer produces compression, make the even speed that is decelerated to of robot end be zero, stop the advance of Z-direction, electric grinding machine can be avoided like this to collide workpiece;
4. start along machining locus processing, displacement transducer is front, and grinding head is rear, and the machining control of machining locus comprises C and E-C, and C is that power controls selection matrix, and E is unit matrix, and E-C is position control selection matrix; Owing to only needing the contact force of the Z-direction of control machine robot end, then C=diag [0,0,1,0,0,0], the diagonal entry of diag representing matrix, other off diagonal elements are 0 entirely;
The measured value of six-dimension force sensor comprises force value, moment values, wherein, and force value sf mcomprise the reaction force of workpiece sf h, equipment gravity sf g, equipment inertia force sf i, that is:
SF M＝ SF H+ SF G+ SF I
S is six-dimension force sensor coordinate system, and M represents measured value, and H is workpiece, and G is equipment, and I is inertia, and described equipment comprises: firm banking, brace, holding piece, corner, electric grinding machine, displacement transducer;
During the polishing of Robot machining locus, speed is constant speed, and acceleration is 0, equipment inertia force sf ibe 0;
To equipment gravity sf gcarry out force compensating, eliminate sf gright sf mimpact; Equipment gravity sf gcan be expressed as in basis coordinates system bf g=[0 0-G] ', B is basis coordinates system, and " ' " represents matrix transpose;
If S-phase for the rotation transformation of B is robot coordinate system's T-phase for the rotation transformation of S is t-phase for the rotation transformation of B is the rotation transformation of R denotation coordination system;
In polishing process, the operating force of grinding head and the reaction force of workpiece sf hfor steady state value, namely in elimination sf gimpact after, sf mfor constant; Due to record equipment gravity by experiment sf gand sf gat the center of gravity (l of S x, l y, l z), l x, l y, l zbe respectively the coordinate value in x, y, z direction in S, can try to achieve sf gthe moment formed at S is:
m x m y m z = 0 - l z l y l z 0 - l x - l y l x 0 F G S ′
M in formula x, m y, m zbe respectively the component in moment x, y, z direction in S;
Then workpiece comprises the anti-sextuple active force of power, moment sf h6:
SF H6＝ SF M6-[ SF G′ m xm ym z]′
In formula, subscript 6 represents the six-dimensional force comprising power, moment, sf m6for the six-dimensional force that six-dimension force sensor records;
[ sf g' m xm ym z] ' be given value, according to the displacement transducer actual shift value that records and theoretical profile model in advance, position control is adopted along machining locus tangential direction, the position and attitude of adjustment robot end, displacement transducer, grinding head is made to aim at machining locus, make grinding head all the time perpendicular to machining locus, adjustment the flexible of robot end makes sf m6keep constant, so sf h6keep constant, realize constant force polishing.
The present invention has following advantage relative to prior art:
Robot sanding apparatus can change grinding head that is dissimilar, size, to complete the different polishing task (grinding, polishing) required; Force snesor can detect in real time grinding head by force information, thus make the polishing power that grinding head remains suitable, displacement transducer can detect the displacement of grinding head and workpiece in real time, thus adjustment instrument is close to the speed of workpiece, avoid sharp impacts, also can adjust the position and attitude of grinding head during polishing according to displacement transducer, in conjunction with two sensors, grinding head can be realized with optimal power (constant force), the polishing of optimal attitude.This apparatus structure is simple, be easy to control, and grinding efficiency is high.
Accompanying drawing explanation
Fig. 1 is robot of the present invention sanding apparatus processing parts schematic diagram.
Fig. 2 is the stereogram of robot of the present invention sanding apparatus.
Fig. 3 is sensor holder schematic diagram.
Fig. 4 is firm banking schematic diagram.
Fig. 5 is brace schematic diagram.
Fig. 6 is holding piece schematic diagram.
Fig. 7 is corner schematic diagram.
Fig. 8 is electric grinding machine schematic diagram.
Fig. 9 is displacement transducer schematic diagram.
Figure 10 is polishing process block diagram.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
Robot sanding apparatus as shown in Fig. 1 ~ Fig. 9, comprise robot 1, sensor holder 2, force snesor 3, firm banking 4, electric grinding machine 5 and displacement transducer 6, electric grinding machine 5 and displacement transducer 6 are arranged on firm banking 4, firm banking 4 is fixed on the panel of force snesor 3, force snesor 3 is fixed on sensor holder 2, and sensor holder 2 is fixed on robot 1 end.Sensor holder 2 one end is fixed on robot 1 end, and the other end is held and bed knife sensor 3, protects force snesor 3 and enhances the stability of connection.
Firm banking 4 connects brace 7, and electric grinding machine 5 is arranged on brace 7 by 2 holding pieces 8, and displacement transducer 6 is arranged on corner 9 by 2 holding pieces 8, and corner 9 is arranged on brace 7.As shown in Figure 5, brace 7 is flat sided straight dihedral.As shown in Figure 7, corner 9 is the bending of Liang Ge right angle, space.The grinding head 10 of electric grinding machine 5 is clamped on the body of electric grinding machine 5 by dop 11.Tighten or unclamp dop, the grinding head of variety classes and model can be changed.The axis direction of electric grinding machine 5 and displacement transducer 6 is the Z-direction along robot 1 end, and the probe at displacement transducer 6 top than electric grinding machine 5 grinding head 10 described in Z-direction exceeds 4mm.
As shown in Figure 1, sensor holder 2 is installed on robot 1 end, again force snesor 3 is arranged on sensor holder 2, firm banking 4 is arranged on the stressed panel of force snesor 3, then brace 7 is connected on firm banking 4, one group of holding piece 8 is arranged on brace 7, load onto electric grinding machine 5, unclamp dop 11, load onto the grinding head 10 of needs, tighten, again corner 9 is arranged on brace 7, load onto another group holding piece 8, load onto displacement transducer 6, the position of adjusted position displacement sensor 6, the probe at displacement transducer 6 top is made in the Z-direction of robot 1 end, to exceed 4mm than grinding head 10, just complete the installation of sanding apparatus.Force snesor is six-dimension force sensor.
As shown in Figure 10, the polishing process of robot sanding apparatus comprises the following steps:
1. according to theoretical profile model planning machining locus and determine process rise cutter point;
2. make robot end to be less than the speed of 5cm/s close to workpiece;
3. when the probe of displacement transducer produces compression, make the even speed that is decelerated to of robot end be zero, stop the advance of Z-direction, electric grinding machine can be avoided like this to collide workpiece;
4. start along machining locus processing, displacement transducer is front, and grinding head is rear, and the machining control of machining locus comprises C and E-C, and C is that power controls selection matrix, and E is unit matrix, and E-C is position control selection matrix; Owing to only needing the contact force of the Z-direction of control machine robot end, then C=diag [0,0,1,0,0,0], the diagonal entry of diag representing matrix, other off diagonal elements are 0 entirely;
The measured value of six-dimension force sensor comprises force value, moment values, wherein, and force value sf mcomprise the reaction force of workpiece sf h, equipment gravity sf g, equipment inertia force sf i, that is:
SF M＝ SF H+ SF G+ SF I
S is six-dimension force sensor coordinate system, and M represents measured value, and H is workpiece, and G is equipment, and I is inertia, and described equipment comprises: firm banking, brace, holding piece, corner, electric grinding machine, displacement transducer;
During the polishing of Robot machining locus, speed is constant speed, and acceleration is 0, equipment inertia force sf ibe 0;
To equipment gravity sf gcarry out force compensating, eliminate sf gright sf mimpact; Equipment gravity sf gcan be expressed as in basis coordinates system bf g=[0 0-G] ', B is basis coordinates system, and " ' " represents matrix transpose;
If S-phase for the rotation transformation of B is robot coordinate system's T-phase for the rotation transformation of S is t-phase for the rotation transformation of B is the rotation transformation of R denotation coordination system;
In polishing process, the operating force of grinding head and the reaction force of workpiece sf hfor steady state value, namely in elimination sf gimpact after, sf mfor constant; Due to record equipment gravity by experiment sf gand sf gat the center of gravity (l of S x, l y, l z), l x, l y, l zbe respectively the coordinate value in x, y, z direction in S, can try to achieve sf gthe moment formed at S is:
m x m y m z = 0 - l z l y l z 0 - l x - l y l x 0 F G S ′
M in formula x, m y, m zbe respectively the component in moment x, y, z direction in S;
Then workpiece comprises the anti-sextuple active force of power, moment sf h6:
SF H6＝ SF M6-[ SF G′ m xm ym z]′
In formula, subscript 6 represents the six-dimensional force comprising power, moment, sf m6for the six-dimensional force that six-dimension force sensor records;
[ sf g' m xm ym z] ' be given value, according to the displacement transducer actual shift value that records and theoretical profile model in advance, position control is adopted along machining locus tangential direction, the position and attitude of adjustment robot end, displacement transducer, grinding head is made to aim at machining locus, make grinding head all the time perpendicular to machining locus, adjustment the flexible of robot end makes sf m6keep constant, so sf h6keep constant, realize constant force polishing, improve crudy, complex-curved polishing can be completed.
Above-mentioned detailed description of the invention is the preferred embodiments of the present invention, can not limit the present invention, and any of other does not deviate from technical scheme of the present invention and the substitute mode of the change made or other equivalence, is included within protection scope of the present invention.

Claims (8)

1. robot sanding apparatus, it is characterized in that: comprise robot, sensor holder, force snesor, firm banking, electric grinding machine and displacement transducer, described electric grinding machine and displacement transducer are arranged on firm banking, firm banking is fixed on the panel of force snesor, force snesor is fixed on sensor holder, and sensor holder is fixed on robot end.
2. robot according to claim 1 sanding apparatus, it is characterized in that: described firm banking connects brace, electric grinding machine is arranged on brace by 2 holding pieces, and displacement transducer is arranged on corner by 2 holding pieces, and corner is arranged on brace.
3. robot according to claim 2 sanding apparatus, is characterized in that: described brace is flat sided straight dihedral.
4. robot according to claim 2 sanding apparatus, is characterized in that: described corner is the bending of Liang Ge right angle, space.
5. robot according to claim 1 sanding apparatus, is characterized in that: the grinding head of described electric grinding machine is clamped on the body of electric grinding machine by dop.
6. robot according to claim 5 sanding apparatus, it is characterized in that: the axis direction of described electric grinding machine and displacement transducer is the Z-direction along robot end, and the probe at displacement transducer top than electric grinding machine grinding head described in Z-direction exceeds 1-5mm.
7. robot according to claim 6 sanding apparatus, is characterized in that: described force snesor is six-dimension force sensor.
8. the polishing process of robot according to claim 7 sanding apparatus, is characterized in that: comprise the following steps:
1. according to theoretical profile model planning machining locus and determine process rise cutter point;
2. make robot end to be less than the speed of 5cm/s close to workpiece;
3. when the probe of displacement transducer produces compression, make the even speed that is decelerated to of robot end be zero, stop the advance of Z-direction;
4. start along machining locus processing, displacement transducer is front, and grinding head is rear, and the machining control of machining locus comprises C and E-C, and C is that power controls selection matrix, and E is unit matrix, and E-C is position control selection matrix; Owing to only needing the contact force of the Z-direction of control machine robot end, then C=diag [0,0,1,0,0,0], the diagonal entry of diag representing matrix, other off diagonal elements are 0 entirely;
The measured value of six-dimension force sensor comprises force value, moment values, wherein, and force value sf mcomprise the reaction force of workpiece sf h, equipment gravity sf g, equipment inertia force sf i, that is:
SF M＝ SF H+ SF G+ SF I
S is six-dimension force sensor coordinate system, and M represents measured value, and H is workpiece, and G is equipment, and I is inertia, and described equipment comprises: firm banking, brace, holding piece, corner, electric grinding machine, displacement transducer;
During the polishing of Robot machining locus, speed is constant speed, and acceleration is 0, equipment inertia force sf ibe 0;
To equipment gravity sf gcarry out force compensating, eliminate sf gright sf mimpact; Equipment gravity sf gcan be expressed as in basis coordinates system bf g=[0 0-G] ', B is basis coordinates system, and " ' " represents matrix transpose;
If S-phase for the rotation transformation of B is robot coordinate system's T-phase for the rotation transformation of S is t-phase for the rotation transformation of B is the rotation transformation of R denotation coordination system;
In polishing process, the operating force of grinding head and the reaction force of workpiece sf hfor steady state value, namely in elimination sf gimpact after, sf mfor constant; Due to record equipment gravity by experiment sf gand sf gat the center of gravity (l of S x, l y, l z), l x, l y, l zbe respectively the coordinate value in x, y, z direction in S, can try to achieve sf gthe moment formed at S is:
m x m y m z = 0 - l z l y l z 0 - l x - l y l x 0 F G S ′
M in formula x, m y, m zbe respectively the component in moment x, y, z direction in S;
Then workpiece comprises the anti-sextuple active force of power, moment sf h6:
SF H6＝ SF M6-[ SF G′ m xm ym z]′
In formula, subscript 6 represents the six-dimensional force comprising power, moment, sf m6for the six-dimensional force that six-dimension force sensor records;
[ sf g' m xm ym z] ' be given value, according to the displacement transducer actual shift value that records and theoretical profile model in advance, position control is adopted along machining locus tangential direction, the position and attitude of adjustment robot end, displacement transducer, grinding head is made to aim at machining locus, make grinding head all the time perpendicular to machining locus, adjustment the flexible of robot end makes sf m6keep constant, so sf h6keep constant, realize constant force polishing.
CN201210549450.7A 2012-12-17 2012-12-17 Robot sanding apparatus and polishing process thereof Expired - Fee Related CN103009218B (en)

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